linear_constraint.h

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#ifndef TOWR_CONSTRAINTS_LINEAR_CONSTRAINT_H_
#define TOWR_CONSTRAINTS_LINEAR_CONSTRAINT_H_

#include <ifopt/constraint_set.h>

namespace towr {

class LinearEqualityConstraint : public ifopt::ConstraintSet {
public:
  using MatrixXd = Eigen::MatrixXd;

  LinearEqualityConstraint (const MatrixXd& M,
                            const VectorXd& v,
                            const std::string& variable_set);
  virtual ~LinearEqualityConstraint () = default;

  VectorXd GetValues() const final;
  VecBound GetBounds() const final;
  void FillJacobianBlock (std::string var_set, Jacobian&) const final;

private:
  MatrixXd M_;
  VectorXd v_;
  std::string variable_name_;
};

} /* namespace towr */

#endif /* TOWR_CONSTRAINTS_LINEAR_CONSTRAINT_H_ */